EP3620271A1 - Method for programming a robot as well as computing device and computer program - Google Patents

Abstract

The proposal relates to a method for programming a robot (10) for carrying out an activity, the robot (10) being equipped with a programmable control unit (70). The method is characterized in that the robot programs are created with a uniform program generator (60), the program generator (60) converting one or more sequences of keywords into valid program code for the programmable control unit (70), such that the program generator (60), when converting the keywords of the respective sequence, calls up information in a programming rule set, from which it receives the program code suitable for the respective robot type in the predetermined syntax, and the program generator (60) assembles the received program code sections into a finished program code.

Description

The proposal relates to the technical field of programming robots, drones and other programmable devices that are intended to perform a specific task. In particular, it is about the automatic programming of industrial robots that are used in the manufacture of products.

Manufacturing robots are about performing one or more work steps. With complex production, e.g. In vehicle body construction, many work steps have to be carried out. Examples include gripping components, holding / positioning components, gluing components, welding components, soldering components, riveting components, milling components, punching components, stamping components, deep drawing components, etc. For such tasks exist in specialized robots, e.g. Gripping robots, welding robots, riveting robots, adhesive robots, etc. It is expressly pointed out that the term manufacturing robot should also include those robots that are used in quality assurance. The aim is to measure various components / assemblies that are assembled during production for control purposes. The high-precision measurement is often carried out by a robot that is equipped with an appropriate measuring device.

The data interface for entering PLC operands and macro commands in the robot program generated offline is currently manual. This results in a high error rate, which means that the robot programs in the production hall need to be corrected during commissioning and system startup. According to the state of the art, the robot programs are corrected manually on the system, partly supported by test tools. Many industrial robots with a large number of different application devices are used for complex production. The programming effort is correspondingly high. With manual program creation, incorrect entries are also unavoidable. If the programmers are given complete freedom, diverse variants of programs for the same programming task arise. These are difficult to compare and the subsequent programmer has difficulty understanding and working on the different variants.

But even if a variety of regulations have to be observed, the programmer has a hard time. A large corporation uses a wide variety of robot types from different robot manufacturers, each of which has special regulations. It is almost impossible for a programmer to know all the regulations by heart and to observe all these regulations. When the programs created are accepted, it often turns out that they are not in accordance with the regulations, and laborious reworking is required to bring the programs into the prescribed form. A lot of time is required for processing, because the robots sometimes make such corrections and tests. only available on weekends. Then the correction execution again depends on the programmer with some. required repeat corrections. In any case, this requires an increased use of personnel in the start-up phase of manufacturing plants.

In particular, there is a need for standardization without scope for interpretation when programming robots. This was recognized in the context of the invention.

The DE 10 2016 216 409 A1 discloses an apparatus with a processing device for controlling an interaction between a user and a household appliance. The processing device is set up to detect the beginning of a natural language dialogue between a user and the device and to control the household appliance based on the dialogue.

The DE 10 2016 011 020 A1 discloses a ladder monitoring device that monitors an operating situation of a ladder program that is executed on a programmable controller built into a CNC on a monitor. A comment added to a circuit of the ladder program is provided with an area for displaying information about an operating situation of the CNC, the operating situation of the ladder program is reflected in the area, and display data in which the operating situation of the CNC is displayed are displayed.

The DE 296 05 700 U1 discloses a device for translating program instructions controlling a robot according to DIN 66025, which are available in the form of part programs, which in turn are formed from sets of program instructions.

The DE 100 21 389 A1 discloses a method for controlling a system. In order to simplify and simplify the use of the system, it is provided that the control information entered corresponds to the application devices available is interpreted, and an application device is controlled according to the interpretation result.

The EP 1 571 514 A1 discloses a system for operating and controlling technical processes, with at least one module designed as a measuring and a control unit, which is connected to sensors and actuators of processes by means of electrical lines, and with a control program, wherein a measuring and control unit, an operator - and observation module and each an optionally provided database, process documentation and possibly other modules of process automation are connected to one another by data channels and a control program.

The EP 1 355 208 A1 System for the automation of technical processes and / or experiments, in which there are provided a measuring and a control unit, which are connected by means of measuring and control channels with sensors and actuators of the process or the test unit, at least one library which contains visualization objects and control modules , and software that dominates the system. The system enables the user to develop applications without any knowledge of programming techniques.

The object of the invention is to find such an approach which makes it possible to standardize the programming. This object is achieved by a method for programming robots according to claim 1, a computing device for use in the method according to claim 7 and a computer program according to claim 10.

The dependent claims contain advantageous developments and improvements of the invention in accordance with the following description of these measures.

The solution consists in a method for programming a robot for carrying out an activity, the robot being equipped with a programmable control unit on which the robot control programs are to run. According to the proposal, the robot programs are created mechanically with a uniform program generator, the program generator converting one or more sequences of keywords into valid program code for the programmable control unit. This is done in such a way that the program generator, when implemented with the respective keyword of the respective sequence, calls up information in a programming rule set, from which it receives the program code suitable for the respective robot type in the specified syntax. The program generator sets the received program code sections to a finished program code. Processing the sequences of keywords in this way results in the finished program code. The sequence of keywords can be created manually by the programmer. In addition, he has to make certain parameter specifications for certain keywords.

The method offers considerable advantages for programming robots. The key words themselves are precisely specified and the programmer takes them from a table. Another source of error could be that an incorrect keyword or parameter is specified. However, the keywords are specifically tailored to the understanding of robot technology and serve as placeholders for macros and operands, in particular PLC macros and PLC operands, and enable function-oriented, didactically safe entry into the robot offline program OLP. Using a suitable algorithm in conjunction with the programming rules, the raw program in the form of the keyword sequences becomes a usable, standard-compliant robot program. All the sources of error that exist with manual programming only are thus avoided.

The combination of functional keywords that are easy to handle didactically with a rule-based algorithm enables automated program creation for robot applications.

• es steigt die Geschwindigkeit zur Erstellung von Roboterprogrammen
• alle Anwender programmieren die Programme einheitlich in gleicher Weise
• die Qualität der Programme wird erhöht
• der Aufwand für Nacharbeit sinkt
• individuelle Fehler werden deutlich reduziert
• Anlagenabnahme - die Roboterabnahme kann zu einem früheren Zeitpunkt erfolgen.

There are other advantages to using this programming method in the area:

• the speed for creating robot programs increases
• all users program the programs uniformly in the same way
• the quality of the programs is increased
• the effort for reworking is reduced
• individual errors are significantly reduced
• System acceptance - the robot acceptance can take place earlier.

It is also advantageous if the programming rules are designed so that the program generator inserts one or more comments into the program code to describe functions. This makes the programs easier to read and better documented.

A large corporation has different locations in different countries. Here it is advantageous if the OLP generator contains the comment or comments in a number of insert several selected languages so that they can be understood in the respective locations.

It is also advantageous if the programming rule set is executed as a database, which is either stored on the computer on which the program for controlling the robot is created, or is installed on a central computer which is connected to the computer. The computer does not have to be positioned near the robot. It can be placed in an office where the programmer is working on the offline program. The finished program is later transferred to the programmable control device of the robot. The database can either be installed locally on the respective computer or on a central computer to which the office computers are connected.

A preferred embodiment of the method provides that when information is retrieved from the database, the keyword including parameter information, if any, is sent to the database in a request, which serves as index information for retrieving information from the database. The key words address the database, so to speak. This information is processed by the database so that it returns the finished program sections. In one embodiment, the database could be organized as an associative memory CAM (Content Addressed Memory).

For a corresponding computing device for carrying out steps of the method, it is advantageous if the computing device has a computing unit with a connection to a programming rule set, which is designed as a database, the computing device being set up, a sequence of keywords that describe a control process, to the database, and to get back from the database the valid code for the sequence of keywords.

The corresponding advantages apply to a computing device which is designed accordingly to carry out steps of the method.

The database can be installed in the computing device itself.

For better control over the database, it is advantageous if the computing device is set up to communicate with an external central computer on which the database is installed.

The invention can also be implemented with a computer program which is designed to carry out the steps of the method according to the invention when processed in a computing device.

Exemplary embodiments of the invention are shown in the drawings and are explained in more detail below with reference to the figures.

Fig. 1

eine typische Ansicht eines Fertigungs-Roboters, der für das Greifen eines Bauteiles an einer Position und das Ablegen des Bauteiles an anderer Position spezialisiert ist;

Fig. 2

eine Konzeptansicht für die Umsetzung der automatischen Programmerstellung;

Fig. 3

ein Textdokument, das eine Auflistung von den für die Programmierung des Greif-Roboters nötigen Schlüsselwort-Sequenzen enthält;

Fig. 4a

den ersten Teil eines Textdokuments, das das fertig umgesetzte Programm mit Programmcode für die verschiedenen in Fig. 3 gezeigten Sequenzen enthält; und

Fig. 4b

den zweiten Teil des Textdokuments, das das fertig umgesetzte Programm mit Programmcode für die verschiedenen in Fig. 3 gezeigten Sequenzen enthält.

Show it:

Fig. 1

a typical view of a manufacturing robot, which is specialized for gripping a component in one position and depositing the component in another position;

Fig. 2

a concept view for the implementation of the automatic program creation;

Fig. 3

a text document that contains a listing of the keyword sequences necessary for programming the gripping robot;

Fig. 4a

the first part of a text document that contains the completed program with program code for the various Fig. 3 contains sequences shown; and

Fig. 4b

the second part of the text document, which contains the completed program with program code for the various in Fig. 3 shown sequences contains.

The present description illustrates the principles of the disclosure of the invention. It is therefore understood that those skilled in the art will be able to design various arrangements which are not explicitly described here, but which embody the principles of the disclosure according to the invention and should also be protected in their scope.

A wide range of specialized types of manufacturing robots are used to manufacture a complex product. A production line of a vehicle body is considered as an example. There are e.g. specialized robots used for the following activities: gripping, positioning, depositing, joining, welding, gluing, screwing, riveting, soldering, milling, embossing, clinching, cutting, laser welding, filling, measuring, etc. This list is typical, does not claim to be complete. Correspondingly many specialized robots have to be programmed in order to be able to carry out the activities precisely.

Fig. 1 shows a view of a robot 10 which is used in the manufacture of a product for gripping a component. It is also used to move the gripped component to a different position, where it is either held so that it can be mounted on the resulting product by further robots, or simply put down. In the second case, the gripping robot serves the purpose of feeding material. It is a typical 5-axis robotic arm 12 shown. A gripper 14 is attached to the robot arm 12. The different axes of the robot arm 12 are indicated by circles. The number of axes is not important for the proposal and the invention can be used with any type of multi-axis robot. There are currently single to twelve-axis robots on the market that can be operated.

The programming of the gripping robot is described using an example. A keyword overview is available to the programmer. The keywords and their meaning are listed there. The example of the use of the gripping robot 10 in the material feed is considered in more detail. His work can be divided into different phases, which in Fig. 1 are shown. First, the robot 10 is initialized and in the process it is moved into the starting position. The starting position is in Fig. 1a shown. The gripper 14 is open. Then it is moved to the gripping position. The gripping position is in Fig. 1b to see. Then it must be programmed for gripping component 16. In Fig. 1c it is shown that the gripper 14 is closed accordingly. The process of moving the robot position to the target position follows. The target position is in Fig. 1d shown. Component 16 is deposited there. Is in Fig. 1e represented in that the gripper 14 is opened again. Finally, the gripping robot 10 is moved back to the starting position, which is already shown in FIG Fig. 1a you can see.

The electrical and electronic equipment of the robot 10 is in the Fig. 1 not shown in detail. A programmable controller PLC, which is usually positioned next to / in the vicinity of the robot 10, is responsible for the robot controller. In Fig. 2 the programmable controller is provided with the reference number 70. It is also possible for several programmable controls to be accommodated in one control cabinet, which control several robots, all of which are then connected to this control cabinet. The robot 10 must be programmed to perform the desired activity. This usually takes place apart from the programmable control with an office computer.

Fig. 2 shows an arrangement of computers for the implementation of automatic program creation according to the concept of the invention. The reference number 30 denotes the office computer on which the programmer controls the creation of the robot program. A program generator 60 is installed on the office computer 30 and is processed. First, the programmer creates several sequences of key words for the various control processes. It takes the keywords from a specified table and adds the necessary parameters. This creates several sequences of keywords, which are put together in a sequence. The program generator 60 evaluates this sequence and sends the various keyword sequences to a central computer 40. A database 50 is installed on the central computer 40. This contains the programming rules. For each key word there are also the appropriate program code sections which conform to the programming guidelines of the company and which are taken from the database 50 and sent back to the office computer 30. The program generator 60 assembles the received code sections into the finished program code. The finished program code can still be edited individually in office computer 30 for an individual specialty. The programmer does this manually. The completed program is transferred to the programmable control device 70 of the industrial robot 10.

The programming is done in three steps:
In step S1, the programmer will enter the keywords that are suitable for programming. The programmer has a keyword overview for this purpose. The keywords for the gripper are listed with their meaning in the keyword overview. Extract from the table: 6.0 gripper BTK 1, ... Component control query, usually flag G_AUF 1, ... Clamping group OPEN, can be combined with marker G_ZU 1, ... Clamping group CLOSED, with marker 32.0 Special Users WAITING OUT, ... Waiting condition, multiple

• PTP VB=100% VE=100% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s]
• Warte auf Folgenstart
• -- G_AUF 1,M2 --
• -- BTK 2 --
• PTP VB=100% VE=100% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s]

Die zweite Phase, s. Fig. 1b betrifft das Verfahren des Roboterarms 12 zur Greifposition.For the first phase of the Fig. 1 shown application regarding the material feed, the following sequence of keywords is created. It is the initialization phase:

• PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s]
• Wait for episode start
• - G_AUF 1, M2 -
• - BTK 2 -
• PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s]

The second phase, see Fig. 1b relates to the movement of the robot arm 12 to the gripping position.

• -- Entnahmeposition --
• - BTK 1 --
• - G_ZU 1 --
• PTP VB=100% VE=100% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s]

To do this, the programmer creates the following sequence of keywords:

• - removal position -
• - BTK 1 -
• - G_ZU 1 -
• PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s]

The expression "removal position" does not correspond to a keyword, but rather to an intentional, permanent comment.

The third phase, see Fig. 1c relates to the movement of the robot arm 12 to the storage position. For this, however, no keyword sequence is created manually, only the corresponding position information is given, see Sequence 2: in Fig. 3 .

2: PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s] {Pno1 = 1, Pno2 = -1, SPSno = -1}; 1: The driving conditions will with regard to machine security from previous releases from the higher-level programmable controller (PLC) and own conditions, such as component controls (BTK), inserted into the finished program by the OLP program generator 60. Example of implementation in program code: FB PSPS = M1 & M30 & M32 & M95

• -- -M1 --
• -- Ablegeposition --
• - G_AUF 1 --
• PTP VB=100% VE=100% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s]
• -- WARTEBIS M2 --
• -- M2 --
• PTP VB=100% VE=100% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s]

In Fig. 1d the phase for depositing the gripped component 20 is also shown. The corresponding sequence of keywords is listed below:

• - -M1 -
• - storage position -
• - G_AUF 1 -
• PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s]
• - WARTEBIS M2 -
• - M2 -
• PTP VB = 100% VE = 100% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s]

• -- Gesamt Arbeitsfertigmeldung --
• PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=5[1/100s] P
• FB PSPS = EIN
• A23 = AUS
• WARTE BIS M2
• SPSMAKRO15 = EIN
• WARTE BIS E23
• A23= EIN
• FB PSPS = M2 & M30 & M31 & M95
• PTP VB=100% VE=0% ACC=100% RobWzg=0 Base=0 SPSTrig=0[1/100s] P
• FB PSPS = EIN
• t1 (EIN) = STOP
• t2 (EIN) = t1[1/10Sek]
• t2 (EIN) = STOP

A program part is automatically generated for moving to the starting position, without a keyword sequence. The sequences are always the same and specified. The following example, derived from guidelines, shows a representation of the generated code for moving to the starting position:

• - Total job completion notification -
• PTP VB = 100% VE = 0% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 5 [1 / 100s] P
• FB PSPS = ON
• A23 = OFF
• WAIT UP TO M2
• SPSMAKRO15 = ON
• WAIT UNTIL E23
• A23 = ON
• FB PSPS = M2 & M30 & M31 & M95
• PTP VB = 100% VE = 0% ACC = 100% RobWzg = 0 Base = 0 SPSTrig = 0 [1 / 100s] P
• FB PSPS = ON
• t1 (ON) = STOP
• t2 (ON) = t1 [1/10 sec]
• t2 (ON) = STOP

The finished keyword sequences for the in Fig. 1 shown examples are in Fig. 3 shown. Fig. 3 shows a document generated with a text editor with the title "sequence 100". A total of 9 sequences are listed. Only the sequences 1 :, 3 :, 6: and 7: relate to the previously described keyword sequences created by the programmer. The other sequences are automatically added by the OLP generator program 60. The document is called a sequence because it already contains more than the keyword sequences. One consequence is a so-called coordinate program when programming robots.

After creating the keyword sequences for the individual control phases in step S1, the keyword sequences are then converted into real program code. This creates basic programs that contain program code in the application-oriented programming language. These are PLC macros and PLC operands, which are also known from the programming of programmable logic controllers. This takes place with the aid of the database 50 and the algorithm 60 in step S2

This implementation is done automatically without the intervention of the programmer. To do this, the implementation tool uses a programming guideline created by the company that uses the robot. This guideline contains the rules that must be observed for programming according to the company's specifications. This is necessary, for example, to comply with safety regulations. But it also serves to keep the programs readable and understandable. In a large corporation, the industrial robot at various Locations where different languages are spoken, this is a crucial point. By standardizing the programming, a variety of incorrect programming can also be avoided.

Examples of rules listed in the programming guideline, rules for bypassing obstacles, rules for position releases or interlocks, rules for clamping feedback and parts controls, rules for specifying positions and coordinates, rules for grippers, releases and flags, rules for the types of interpolation to be used, rules for programming jump commands, rules for specifying motion parameters, rules and examples for programming subroutines and macros, rules for programming sequences, rules for programming repetitions, rules for initialization phases, rules for technology - Calls, rules for programming tool changing operations, rules for programming ready-to-work messages, etc.

Examples: 2. Programming of handling tasks with clamping groups 2.1 Programming point 2 of a sequence

Example : Gripper with 4 clamping groups and 2 component controls 2: PTP VB = 100% VE = 0% ACC = 100% RobWzg = 1 Base = 1 SPSTrig = 0 [1 / 100s] 1: FB PSPS = ON ∼ Online driving conditions switched off 2. A23 = OFF ∼ Protective grille blocked 3: t1 (ON) = 0 [1/10 sec] ∼ Start cycle time measurement 4: PLC MAKRO50 = ON ∼ Flag initialization 5: A80 = ON ∼ Release tensioner OPEN / CLOSE 6: A15 = OFF ∼ Switch off the "home position" message 7: F1 = ON ∼ Preselection clamping group 1 8: F2 = ON ∼ Preselection clamping group 2 9: F3 = ON ∼ Preset clamping group 3 10: F4 = ON ∼ Preselection clamping group 4 11: PLC MAKRO342 =! E579 &! E580 ∼ OPEN gripper 12: PLC MAKRO340 = ON ∼ Initialize gripper 13: WAIT TO M31 & M33 & M35 & M37 ∼ The gripper is open 14. WAIT UNTIL E23 ∼ No access request 15. A23 = ON ∼ Protective grille blocked 16: FB PSPS = E14 & E24 & E80 & M31 & M33 & M35 & M37

4.3 Programming the last point in a sequence

In the last point of the respective sequence, the corresponding timer for the total cycle time must be stopped, the value saved and, if necessary, monitoring times triggered. Example: 55: PTP VB = 100% VE = 0% ACC = 100% RobWzg = 1 Base = 1 SPSTri = 0 [1 / 100s] 1: FB PSPS = ON 2: t1 (ON) = STOP Takt Total cycle time of current run 3: t2 (ON) = t1 [1/10 sec] 4: t2 (ON) = STOP episode Total job completion notification W: PTP VB = 100% VE = 0% ACC = 100% RobWzg = 1 Base = 1 SPSTrig = 5 [1 / 100s] 1: FB PSPS = ON 2: A23 = OFF ∼ Protective grille released 3: PLC MACRO15 = ON ∼ Complete work completion notification 4: WAIT UNTIL E23 ∼ PLC release 5: A23 = ON ∼ Protective grille blocked 6: FB PSPS = M30 & E80 & M95

The Macro15 for the overall work completion notification may only be called up at the end of the sequence, but not at the last point !!! If necessary, the last point must be copied and inserted as the penultimate.

The programming guideline can be implemented in the form of a database on the office computer 30 or the central computer 40, which is connected to the office computer 30 via a network. The respective keyword in the keyword sequence that is to be implemented serves as address information under which the relevant regulations can be found in the database 50. The implementation of the keyword with the optional parameter specifications then takes place with the code examples for the keyword and the regulations contained in the database 50. An algorithm as part of the OLP program generator 60, which runs on the office computer 30, assembles the individual code sections into a program. The implementation of basic programs that are largely finished. Certain comment lines are also generated automatically. If multi-lingual comments are to be inserted, the language selection can be entered in a menu of the converter tool before implementation.

The Fig. 4 shows the finished program code for the 9 sequences shown in Fig. 3 are shown.

The document that shows the finished program code has the title "Folg100_generiert". In addition to the program code, it also contains some important comment lines.

All of the examples mentioned herein, as well as conditional formulations, are to be understood without being restricted to such specific examples. For example, it is recognized by those skilled in the art that a flowchart, state transition diagram, pseudocode, and the like shown are different variants for representing processes represent, which are essentially stored in computer-readable media and thus can be executed by a computer or processor.

It should be understood that the proposed method and associated devices can be implemented in various forms of hardware, software, firmware, special processors, or a combination thereof. Special processors can include application-specific integrated circuits (ASICs), reduced instruction set computers (RISC) and / or field programmable gate arrays (FPGAs). The proposed method and the device are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on a program storage device. Typically, it is a machine based on a computer platform, which has hardware such as one or more central processing units (CPU), a random access memory (RAM) and one or more input / output (I / O) interface (s). An operating system is typically also installed on the computer platform. The various processes and functions described here can be part of the application program or part of the operating system.

Reference list

10th

robot

12th

Robotic arm

14

pliers

20

Component

30th

Office calculator

40

Central computer

50

Database

60

algorithm

70

programmable controller

S1 - S3

different steps of the programming process

Claims (10)

Method for programming a robot (10) for carrying out an activity, the robot (10) being equipped with a programmable control unit (70), characterized in that the robot programs are created with a uniform program generator (60), wherein the program generator (60) converts one or more sequences of keywords into valid program code for the programmable control unit (70), such that the program generator (60) retrieves information in one when converting the keywords of the respective sequence Programming set of rules executes from which he receives the program code suitable for the respective robot type in the specified syntax and the program generator (60) assembles the received program code sections into a finished program code. The method of claim 1, wherein the keywords are at least partially provided with parameter information. The method of claim 1 or 2, wherein the program generator (60) inserts one or more comments describing functions in the program code. The method of claim 3, wherein the program generator (60) inserts the comment (s) in a number of multiple selected languages. Method according to one of the preceding claims, wherein the programming rule set is executed as a database (50), which is either stored on the computer (30) on which the program for controlling the robot (10) is created or on a central computer (40) is installed, which is connected to the computer (30). Method according to claim 5, wherein when information is retrieved from the database (50), the keyword including parameter information, if present, is sent to the database (50) in a request, which is used as index information for the retrieval of information from the database (50 50) serves. Computing device for carrying out steps of the method according to one of the preceding claims, characterized in that the computing device (30) has a computing unit with connection to a programming rule system which is designed as a database (50), the computing device (30) being set up to send a sequence of keywords describing a control process to the database (50) and to get back from the database (50) the valid program code for the sequence of keywords. Computing device according to claim 7, wherein the database (50) is installed in the computing device (30). Computing device according to Claim 8, the computing device (30) being set up to communicate with an external central computer (40) on which the database (50) is installed. Computer program, characterized in that the computer program is designed to carry out the steps of the method according to one of claims 1 to 6 when processed in a computing device (30).

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